THE DESIGN AND ANALYSIS OF EXPERIMENTS. By Oscar Kempthorne. New York, John Wiley and Sons, Inc., 1952. 631 pp. $8.50. This book by a teacher of statistics (as well as a consultant for \"experimenters\") is a comprehensive study of the philosophical background for the statistical design of experiment. It is necessary to have some facility with algebraic notation and manipulation to be able to use the volume intelligently. The problems are presented from the theoretical point of view, without such practical examples as would be helpful for those not acquainted with mathematics. The mathematical justification for the techniques is given. As a somewhat advanced treatment of the design and analysis of experiments, this volume will be interesting and helpful for many who approach statistics theoretically as well as practically. With emphasis on the \"why,\" and with description given broadly, the author relates the subject matter to the general theory of statistics and to the general problem of experimental inference. MARGARET J. ROBERTSON

The Design and Analysis of Experiments

I have developed "tennis elbow" from lugging this book around the past four weeks, but it is worth the pain, the effort, and the aspirin. It is also worth the (relatively speaking) bargain price. Including appendixes, this book contains 894 pages of text. The entire panorama of the neural sciences is surveyed and examined, and it is comprehensive in its scope, from genomes to social behaviors. The editors explicitly state that the book is designed as "an introductory text for students of biology, behavior, and medicine," but it is hard to imagine any audience, interested in any fragment of neuroscience at any level of sophistication, that would not enjoy this book. The editors have done a masterful job of weaving together the biologic, the behavioral, and the clinical sciences into a single tapestry in which everyone from the molecular biologist to the practicing psychiatrist can find and appreciate his or

Principles of Neural Science

Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms. The treatment is centered on robot motion planning but integrates material on planning in discrete spaces. A major part of the book is devoted to planning under uncertainty, including decision theory, Markov decision processes, and information spaces, which are the “configuration spaces” of all sensor-based planning problems. The last part of the book delves into planning under differential constraints that arise when automating the motions of virtually any mechanical system. Developed from courses taught by the author, the book is intended for students, engineers, and researchers in robotics, artificial intelligence, and control theory as well as computer graphics, algorithms, and computational biology.

Planning Algorithms: Introductory Material

BIOE 402. Medical Technology Assessment. 2 or 3 hours. Bioentrepreneur course. Assessment of medical technology in the context of commercialization. Objectives, competition, market share, funding, pricing, manufacturing, growth, and intellectual property; many issues unique to biomedical products. Course Information: 2 undergraduate hours. 3 graduate hours. Prerequisite(s): Junior standing or above and consent of the instructor.

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“Unpaired Image-to-Image Translation using Cycle-Consistent Adversarial Networks”の学習報告

This paper reports mechanical testing the modeling results for the McKibben artificial muscle pneumatic actuator. This device contains an expanding tube surrounded by braided cords. We report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models. The results are briefly compared with human muscle properties to evaluate the suitability of McKibben actuators for human muscle emulation in biologically based robot arms.

Measurement and modeling of McKibben pneumatic artificial muscles

The application of a hybrid two-port model to teleoperators with force and velocity sensing at the master and slave is presented. The interfaces between human operator and master, and between environment and slave, are ports through which the teleoperator is designed to exchange energy between the operator and the environment. By computing or measuring the input-output properties of this two-port network, the hybrid two-port model of an actual or simulated teleoperator system can be obtained. It is shown that the hybrid model (as opposed to other two-port forms) leads to an intuitive representation of ideal teleoperator performance and applies to several teleoperator architectures. Thus measured values of the h matrix or values computed from a simulation can be used to compare performance with the ideal. The frequency-dependent h matrix is computed from a detailed SPICE model of an actual system, and the method is applied to a proposed architecture. >

A design framework for teleoperators with kinesthetic feedback

A patent-pending, energy-based method is presented for controlling a haptic interface system to ensure stable contact under a wide variety of operating conditions. System stability is analyzed in terms of the time-domain definition of passivity. We define a "passivity observer" (PO) which measures energy flow in and out of one or more subsystems in real-time software. Active behavior is indicated by a negative value of the PO at any time. We also define the "passivity controller" (PC), an adaptive dissipative element which, at each time sample, absorbs exactly the net energy output (if any) measured by the PO. The method is tested with simulation and implementation in the Excalibur haptic interface system. Totally stable operation was achieved under conditions such as stiffness >100 N/mm or time delays of 15 ms. The PO/PC method requires very little additional computation and does not require a dynamical model to be identified.

Time domain passivity control of haptic interfaces

This paper addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual world, to include both the impedance and admittance models of haptic interaction. A benchmark example exposes an important duality between these two cases. Linear circuit theory is used to develop necessary and sufficient conditions for the stability of a haptic simulation, assuming the human operator and virtual environment are passive. These equations lead to an explicit design procedure for virtual coupling networks which give maximum performance while guaranteeing stability. By decoupling the haptic display control problem from the design of virtual environments, the use of a virtual coupling network frees the developer of haptic-enabled virtual reality models from issues of mechanical stability.

/pdf/stable-haptic-interaction-with-virtual-environments-iid48v9wp6.pdf

Stable haptic interaction with virtual environments

Accurate recognition and tracking of human activities is an important goal of ubiquitous computing. Recent advances in the development of multi-modal wearable sensors enable us to gather rich datasets of human activities. However, the problem of automatically identifying the most useful features for modeling such activities remains largely unsolved. In this paper we present a hybrid approach to recognizing activities, which combines boosting to discriminatively select useful features and learn an ensemble of static classifiers to recognize different activities, with hidden Markov models (HMMs) to capture the temporal regularities and smoothness of activities. We tested the activity recognition system using over 12 hours of wearable-sensor data collected by volunteers in natural unconstrained environments. The models succeeded in identifying a small set of maximally informative features, and were able identify ten different human activities with an accuracy of 95%.

/pdf/a-hybrid-discriminative-generative-approach-for-modeling-akp5bg1joc.pdf

Blake Hannaford

Papers

Measurement and modeling of McKibben pneumatic artificial muscles

A design framework for teleoperators with kinesthetic feedback

Time domain passivity control of haptic interfaces

Stable haptic interaction with virtual environments

A hybrid discriminative/generative approach for modeling human activities